CN220740331U

CN220740331U - Automatic feeding and discharging manipulator of machine tool

Info

Publication number: CN220740331U
Application number: CN202322233061.XU
Authority: CN
Inventors: 李强云; 甘阳洲; 刘军; 曹政德; 庄生唐; 曾黄龙
Original assignee: Hudson Intelligent Machinery Shenzhen Co ltd; Shenzhen Yutong Innovation Technology Co ltd; Shenzhen Hongxin Deli Technology Co ltd
Current assignee: Hudson Intelligent Machinery Shenzhen Co ltd; Shenzhen Yutong Innovation Technology Co ltd; Shenzhen Hongxin Deli Technology Co ltd
Priority date: 2023-08-18
Filing date: 2023-08-18
Publication date: 2024-04-09
Anticipated expiration: 2033-08-18

Abstract

The utility model discloses an automatic feeding and discharging manipulator of a machine tool, which effectively solves the problems that the existing machine tool is fed and discharged manually, if the feeding and discharging are careless, the product yield is difficult to keep stable, and meanwhile, the operating environment is bad, which can cause physical injury to operators and cause low production efficiency; the device comprises a base, wherein the upper surface of the base is rotationally connected with a shoulder seat, one end of the shoulder seat is rotationally connected with a big arm, the top end of the big arm is rotationally connected with an elbow, one end of the elbow is rotationally connected with a small arm, and one end of the small arm is rotationally connected with a mounting shaft; the utility model adopts a six-axis structure, can realize a plurality of degrees of freedom, is provided with the clamp at the tail end, can carry products in multiple angles, adopts a plurality of motors to control, each motor is responsible for the field of each direction, avoids the mutual influence of machines in operation, not only improves the flexibility of the manipulator, but also is quite convenient in later maintenance.

Description

Automatic feeding and discharging manipulator of machine tool

Technical Field

The utility model relates to the technical field of machining, in particular to an automatic feeding and discharging manipulator of a machine tool.

Background

In a machine tool machining center production and machining workshop, in order to improve production efficiency and machine high-quality qualified products, operators are required to accurately and flow field ground and discharge different kinds of machining materials, as the machine tool turntable is provided with sharp cutters of different types, if the feeding and the discharging are careless, the product yield is difficult to keep stable, meanwhile, the severe working environment can cause physical injury to the operators, more or less economic loss is caused to enterprises in production and management, and the production efficiency is low.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the utility model aims to provide the automatic feeding and discharging manipulator of the machine tool, which effectively solves the problems that the product yield is difficult to keep stable and the working environment is bad to cause physical injury to operators and lower production efficiency because the feeding and discharging are performed manually in the existing machine tool machining center.

The technical scheme includes that the device comprises a base, wherein the upper surface of the base is rotationally connected with a shoulder seat, one end of the shoulder seat is rotationally connected with a big arm, the top end of the big arm is rotationally connected with an elbow, one end of the elbow is rotationally connected with a small arm, one end of the small arm is rotationally connected with a mounting shaft, the bottom end of the mounting shaft is provided with a fixing plate, and the front side and the rear side of the lower surface of the fixing plate are provided with clamps.

Preferably, a first motor is mounted on one side of the base, the first motor drives the shoulder seat to rotate, a second motor is mounted on one side of the shoulder seat, the second motor drives the large arm to rotate, a speed reducer is mounted on one side of the elbow, and the speed reducer drives the elbow to rotate.

Preferably, the forearm comprises a rotating shaft and a U-shaped shell, the right end of the rotating shaft is rotatably connected with the U-shaped shell through a first driving assembly, and the mounting shaft is rotatably connected inside the U-shaped shell through a second driving assembly.

Preferably, the first driving assembly comprises a third motor fixedly connected to the left inner wall of the U-shaped shell, the output end of the third motor is fixedly connected with a worm, the front face of the rotating shaft is located in the U-shaped shell and is fixedly connected with a worm wheel, the rotating shaft is rotatably connected with the U-shaped shell through a bearing, and the worm is meshed with the worm wheel.

Preferably, the second driving assembly comprises a fourth motor fixedly connected to the inner wall of the back surface of the U-shaped shell, the output end of the fourth motor is fixedly connected with a first belt wheel, the left end and the right end of the mounting shaft are fixedly connected with round rods, the round rods are rotatably connected with the inner wall of the U-shaped shell through bearings, the right side of the round rods is located in the U-shaped shell and is fixedly connected with a second belt wheel, and the first belt wheel is connected with the second belt wheel through belt transmission.

Preferably, the front side and the rear side of the lower surface of the fixing plate are respectively provided with a quick-change flange male head, the top end of the clamp is fixedly connected with a quick-change flange female head, and the clamp is fixedly connected with the quick-change flange female head through the quick-change flange male heads.

Preferably, the left side and the right side of the upper surface of the fixing plate are fixedly connected with reinforcing ribs, and the height of the reinforcing ribs is gradually reduced towards two sides.

Preferably, the number of the clamps is two, and the two clamps are respectively a feeding clamping jaw and a discharging clamping jaw.

Compared with the prior art, the utility model has the beneficial effects that:

1. adopt six structures, can realize a plurality of degrees of freedom to be equipped with anchor clamps at the end, can multi-angle transport product, adopt a plurality of motors to control simultaneously, every motor is responsible for the field of each direction, avoids machinery to influence each other in service, not only improves the flexibility ratio of manipulator, and the later maintenance is also fairly convenient moreover.

2. The manipulator can install material loading clamping jaw and unloading clamping jaw fast, conveniently snatchs different spare part, has improved work efficiency greatly, realizes more snatchs the function through changing anchor clamps.

3. Through being equipped with two clamping jaws at the manipulator end, be material loading clamping jaw and unloading clamping jaw respectively, can be quick convenient realization unloading.

Drawings

Fig. 1 is a schematic perspective view of the present utility model.

Fig. 2 is a schematic perspective view of the present utility model.

Fig. 3 is a partially enlarged schematic construction of the present utility model.

Fig. 4 is a schematic cross-sectional view of the forearm of the utility model.

Reference numerals in the schematic drawings illustrate: 1. a base; 2. a shoulder rest; 3. a large arm; 4. an elbow; 5. a forearm; 6. a mounting shaft; 7. a fixing plate; 8. a clamp; 9. a first motor; 10. a second motor; 11. a speed reducer; 12. a first drive assembly; 13. a second drive assembly; 501. a rotation shaft; 502. a U-shaped housing; 1201. a third motor; 1202. a worm; 1203. a worm wheel; 1301. a fourth motor; 1302. a first pulley; 1303. a round bar; 1304. a second pulley; 1305. a belt; 701. quick-change flange male heads; 702. quick-changing the flange female head; 703. reinforcing ribs.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The automatic feeding and discharging manipulator for the machine tool comprises a base 1, wherein the upper surface of the base 1 is rotationally connected with a shoulder seat 2, one end of the shoulder seat 2 is rotationally connected with a big arm 3, the top end of the big arm 3 is rotationally connected with an elbow 4, one end of the elbow 4 is rotationally connected with a small arm 5, one end of the small arm 5 is rotationally connected with a mounting shaft 6, the bottom end of the mounting shaft 6 is provided with a fixing plate 7, and the front side and the rear side of the lower surface of the fixing plate 7 are provided with clamps 8.

As shown in fig. 1 and 2: the first motor 9 is installed to one side of base 1, and first motor 9 drive shoulder seat 2 is rotatory, and second motor 10 is installed to one side of shoulder seat 2, and big arm 3 is rotatory to the drive of second motor 10, and reduction gear 11 is installed to one side of elbow 4, and reduction gear 11 drives elbow 4 and rotates, sets up this manipulator like this and adopts six structures, can realize a plurality of degrees of freedom.

As shown in fig. 1 and 3: the forearm 5 comprises a rotation shaft 501 and a U-shaped housing 502, the right end of the rotation shaft 501 is rotatably connected with the U-shaped housing 502 through a first driving assembly 12, and the mounting shaft 6 is rotatably connected inside the U-shaped housing 502 through a second driving assembly 13.

The arrangement makes the rotation angle of the small arm of the manipulator on the same plane become larger on the premise of not increasing the rotation shaft and ensuring enough freedom degree, and the whole size of the manipulator is not increased, so that the large-range motion can be realized by combining the small arm with the manipulator.

As shown in fig. 3 and 4: the first driving assembly 12 comprises a third motor 1201 fixedly connected to the left inner wall of the U-shaped housing 502, the output end of the third motor 1201 is fixedly connected with a worm 1202, the front surface of the rotating shaft 501 is located in the U-shaped housing 502 and fixedly connected with a worm wheel 1203, the rotating shaft 501 is rotatably connected with the U-shaped housing 502 through a bearing, and the worm 1202 is meshed with the worm wheel 1203.

The third motor 1201 is started to drive the worm 1202 to rotate, and the worm 1202 cooperates with the worm wheel 1203 in the rotating process to drive the rotating shaft 501 to rotate, so that the rotation of the forearm 5 is realized.

As shown in fig. 3 and 4: the second driving assembly 13 comprises a fourth motor 1301 fixedly connected to the inner wall of the back of the U-shaped casing 502, the output end of the fourth motor 1301 is fixedly connected with a first belt wheel 1302, the left end and the right end of the mounting shaft 6 are fixedly connected with round rods 1303, the round rods 1303 are rotatably connected with the inner wall of the U-shaped casing 502 through bearings, the right round rods 1303 are located in the U-shaped casing 502 and are fixedly connected with a second belt wheel 1304, and the first belt wheel 1302 is in transmission connection with the second belt wheel 1304 through a belt 1305.

The fourth motor 1301 is started to drive the first belt wheel 1302 to rotate, the first belt wheel 1302 drives the second belt wheel 1304 to rotate through the belt 1305 in the rotating process, and the second belt wheel 1304 can drive the round rod 1303 and the mounting shaft 6 to rotate in the rotating process.

As shown in fig. 1 and 3: the front side and the rear side of the lower surface of the fixing plate 7 are respectively provided with a quick-change flange male head 701, the top end of the clamp 8 is fixedly connected with a quick-change flange female head 702, and the clamp 8 is fixedly connected with the quick-change flange female head 702 through the quick-change flange male heads 701.

The manipulator is arranged to install the feeding clamping jaw and the discharging clamping jaw fast, and more grabbing functions are achieved through clamp replacement.

As shown in fig. 3: the left and right sides of fixed plate 7 upper surface is all fixedly connected with strengthening rib 703, and the height of strengthening rib 703 reduces to both sides gradually, sets up like this and improves the structural strength of fixed plate 7, better snatchs the part.

As shown in fig. 1 and 3: the quantity of anchor clamps 8 is two, and two anchor clamps 8 are material loading clamping jaw and unloading clamping jaw respectively, sets up the manipulator like this and can install material loading clamping jaw and unloading clamping jaw fast, conveniently snatchs different spare part.

According to the technical scheme provided by the utility model, the manipulator adopts a six-axis structure, multiple degrees of freedom can be realized, meanwhile, the third motor 1201 can be started to drive the worm 1202 to rotate, the worm 1202 is matched with the worm wheel 1203 in the rotating process to drive the rotating shaft 501 to rotate, the fourth motor 1301 is started to drive the first belt wheel 1302 to rotate, the first belt wheel 1302 drives the second belt wheel 1304 to rotate through the belt 1305 in the rotating process, the second belt wheel 1304 can drive the round rod 1303 and the mounting shaft 6 to rotate in the rotating process, and the clamp 8 is arranged at the tail end, so that products can be transported in multiple angles, meanwhile, the motors are used for controlling, each motor is responsible for the fields of all directions in operation, the mutual influence of the machines is avoided, the flexibility of the manipulator is improved, and the later maintenance is quite convenient.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatic unloading manipulator of going up of lathe, includes base (1), its characterized in that, the upper surface of base (1) rotates and is connected with shoulder seat (2), the one end of shoulder seat (2) rotates and is connected with big arm (3), the top of big arm (3) rotates and is connected with elbow (4), the one end of elbow (4) rotates and is connected with forearm (5), the one end of forearm (5) rotates and is connected with installation axle (6), fixed plate (7) are installed to the bottom of installation axle (6), anchor clamps (8) are all installed to both sides around fixed plate (7) lower surface.

2. The automatic feeding and discharging manipulator for the machine tool according to claim 1, wherein a first motor (9) is installed on one side of the base (1), the first motor (9) drives the shoulder seat (2) to rotate, a second motor (10) is installed on one side of the shoulder seat (2), the second motor (10) drives the large arm (3) to rotate, a speed reducer (11) is installed on one side of the elbow (4), and the speed reducer (11) drives the elbow (4) to rotate.

3. The automatic feeding and discharging manipulator for the machine tool according to claim 2, wherein the small arm (5) comprises a rotating shaft (501) and a U-shaped shell (502), the right end of the rotating shaft (501) is rotatably connected with the U-shaped shell (502) through a first driving assembly (12), and the mounting shaft (6) is rotatably connected inside the U-shaped shell (502) through a second driving assembly (13).

4. The automatic feeding and discharging manipulator for the machine tool according to claim 3, wherein the first driving assembly (12) comprises a third motor (1201) fixedly connected to the left inner wall of the U-shaped housing (502), the output end of the third motor (1201) is fixedly connected with a worm (1202), the front surface of the rotating shaft (501) is located in the U-shaped housing (502) and is fixedly connected with a worm wheel (1203), the rotating shaft (501) is rotatably connected with the U-shaped housing (502) through a bearing, and the worm (1202) is meshed with the worm wheel (1203).

5. The automatic feeding and discharging manipulator for the machine tool according to claim 4, wherein the second driving assembly (13) comprises a fourth motor (1301) fixedly connected to the inner wall of the back of the U-shaped housing (502), the output end of the fourth motor (1301) is fixedly connected with a first belt wheel (1302), the left end and the right end of the mounting shaft (6) are fixedly connected with round rods (1303), the round rods (1303) are rotatably connected with the inner wall of the U-shaped housing (502) through bearings, the right side of the round rods (1303) are located in the inner portion of the U-shaped housing (502) and fixedly connected with a second belt wheel (1304), and the first belt wheel (1302) is in transmission connection with the second belt wheel (1304) through a belt (1305).

6. The automatic feeding and discharging manipulator for the machine tool according to claim 5, wherein the front side and the rear side of the lower surface of the fixing plate (7) are respectively provided with a quick-change flange male head (701), the top end of the clamp (8) is fixedly connected with a quick-change flange female head (702), and the clamp (8) is fixedly connected with the quick-change flange female head (702) through the quick-change flange male head (701).

7. The automatic feeding and discharging manipulator for the machine tool according to claim 6, wherein reinforcing ribs (703) are fixedly connected to the left side and the right side of the upper surface of the fixing plate (7), and the height of the reinforcing ribs (703) is gradually reduced to two sides.

8. The automatic feeding and discharging manipulator for the machine tool according to claim 7, wherein the number of the clamps (8) is two, and the two clamps (8) are respectively a feeding clamping jaw and a discharging clamping jaw.